A powered rope ascender that supports a person or a load while ascending a vertical rope. The rope ascender has a motor driven capstan drum that engages the rope. A pinch roller grips the rope against the capstan drum. A load limiting assembly releases the grip by the pinch roller when the load supp
A powered rope ascender that supports a person or a load while ascending a vertical rope. The rope ascender has a motor driven capstan drum that engages the rope. A pinch roller grips the rope against the capstan drum. A load limiting assembly releases the grip by the pinch roller when the load supported by the ascender exceeds a predetermined amount. A centrifugal clutch reduces starting torque required by the motor and the outer drum of the centrifugal clutch interacts with a brake to hold position on the rope. For heavy loads a motion activated brake is used. Hand controls provide a freewheeling, a braking and an ascending mode of operation. A harmonic drive or planetary reduction gears provide speed reduction from the motor to the capstan drum. The powered rope ascender can be threaded on the rope without access to a rope end.
대표청구항▼
What is claimed is: 1. An apparatus for maneuvering on a rope while supporting a load comprising: a base plate; means for engaging a rope; wherein said means for engaging a rope is coupled to said base plate; wherein said means for engaging a rope is configured to grip the rope; a motor coupled to
What is claimed is: 1. An apparatus for maneuvering on a rope while supporting a load comprising: a base plate; means for engaging a rope; wherein said means for engaging a rope is coupled to said base plate; wherein said means for engaging a rope is configured to grip the rope; a motor coupled to base plate; wherein said motor is adapted to propel said means for engaging a rope relative to the rope; and means for limiting load; wherein said means for limiting load is coupled to said base plate; wherein said means for limiting load is configured to be coupled to a load; and wherein said means for limiting load is configured to reduce the grip on the rope by said means for engaging a rope when the load coupled to said means for limiting load exceeds a predetermined amount. 2. An apparatus as recited in claim 1, further comprising a motor selected from the group consisting essentially of a DC motor, an AC motor, a brushless motor, a compressed gas turbine, and an internal combustion engine. 3. An apparatus as recited in claim 1, wherein said means for engaging a rope comprises: a capstan drum coupled to said motor; a tension roller bracket having distal and proximal ends and a pivot point between said distal and proximal ends; said tension roller bracket coupled to said base plate at said pivot point; a tension roller coupled to said distal end of said tension roller bracket; and a pinch roller coupled to said proximal end of said tension roller bracket; wherein said pinch roller is positioned to contact said capstan drum. 4. An apparatus as recited in claim 3: wherein when a load is supported on said means for limiting load; wherein said tension roller is configured to contact an upper region of rope that has at least one wrap of rope on said capstan drum; and wherein said pinch roller is configured to simultaneously apply a gripping force against said at least one wrap of rope on said capstan drum. 5. An apparatus as recited in claim 1, wherein said means for engaging a rope comprises: a capstan drum coupled to said motor; and a pinch roller coupled to said base plate and further coupled to said means for limiting load; said pinch roller having a closed position and an open position; wherein in said closed position, said pinch roller is adapted to grip at least one wrap of rope on said capstan drum; and wherein in said open position, said pinch roller does not contact said at least one wrap of rope on said capstan drum. 6. An apparatus as recited in claim 3 or claim 5, wherein said means for engaging a rope further comprises: an idler roller coupled to said base plate; wherein said idler roller is positioned adjacent to said capstan drum; wherein said capstan drum has a plurality of grooves; wherein said idler roller has at least one groove; and wherein said idler roller is adapted to guide said at least one wrap of rope around said capstan drum. 7. An apparatus as recited in claim 6, further comprising: a harmonic drive coupled between said capstan drum and said motor; wherein said harmonic drive is adapted to reduce the rotation speed of said capstan drum relative to the rotation speed of said motor; and wherein said capstan drum can back drive said harmonic drive. 8. An apparatus as recited in claim 7, further comprising: a brake coupled to said base plate; a brake drum coupled between said harmonic drive and said motor; wherein said brake drum has an inner and outer drum surface; and wherein said brake is adapted to engage said outer drum surface. 9. An apparatus as recited in claim 8, further comprising: a centrifugal clutch mounted in said brake drum; wherein said centrifugal clutch is coupled to said motor; wherein said centrifugal clutch is adapted to engage said inner drum surface; and wherein said centrifugal clutch is adapted to reduce the starting torque required by said motor. 10. An apparatus as recited in claim 9, further comprising: a trigger coupled to said base plate; said trigger linked to said brake; said trigger having first and second positions; and a motor controller linked to said trigger; said motor controller adapted to energize said motor; wherein when said trigger is in said first position, said brake is engaged with said outer drum surface and said motor is not energized by said motor controller; and wherein when said trigger is in said second position, said brake is disengaged from said outer drum surface and said motor is energized by said motor controller. 11. An apparatus as recited in claim 10, further comprising: a receiver connected to said motor controller; wherein said receiver is adapted to receive control signals to control said motor controller; and a remote transmitter adapted to send control signals to said receiver. 12. An apparatus as recited in claim 11: wherein said trigger has a third position; and wherein when said trigger is in said third position, said brake is disengaged from said outer clutch drum surface and said motor is not energized by said motor controller. 13. An apparatus as recited in claim 12 further comprising: a palm interlock coupled to said base plate; said palm interlock adapted to react to palm pressure by an operator; wherein said palm interlock is adapted to lock said trigger in said first position when no palm pressure is applied by said operator; and wherein said palm interlock is adapted to allow said trigger to move from said first position to said third and said second positions when palm pressure is applied to said palm interlock by said operator. 14. An apparatus as recited in claim 10, further comprising: a palm interlock coupled to said base plate; said palm interlock adapted to react to palm pressure by an operator; wherein said palm interlock is adapted to lock said trigger in said first position when no palm pressure is applied by said operator; and wherein said palm interlock is adapted to allow said trigger to move to said second position when palm pressure is applied to said palm interlock by said operator. 15. An apparatus as recited in claim 6, further comprising: a rotating yoke coupled to said motor; a motion activated brake coupled between said rotating yoke and said capstan drum; wherein said motion activated brake has a drive state and a brake state; wherein said motion activated brake is in said drive state and rotates said capstan drum when said rotating yoke is rotating; and wherein said motion activated brake is in said brake state and prevents said capstan drum from rotating when said rotating yoke is stationary. 16. An apparatus as recited in claim 15, further comprising: a trigger coupled to said base plate; said trigger having first and second positions; and a motor controller linked to said trigger; said motor controller adapted to energize said motor; wherein when said trigger is in said first position, said motor is not energized by said motor controller and said motion activated brake is in said brake state; and wherein when said trigger is in said second position, said motor is energized by said motor controller and said brake is in said drive state. 17. An apparatus as recited in claim 16, further comprising: a receiver connected to said motor controller; wherein said receiver is adapted to receive control signals; and a remote transmitter adapted to send control signals to said receiver. 18. An apparatus as recited in claim 1, further comprising: a motor enclosure coupled to said base plate adapted to enclose said motor; a battery electrically connected to said motor; and a battery enclosure coupled to said base plate adapted to enclose said battery; wherein said battery cannot be electrically disconnected from said motor when said motor is enclosed in said motor enclosure and said battery is enclosed in said battery enclosure. 19. An apparatus as recited in claim 1, wherein said means for limiting load comprises: a tension arm having distal and proximal ends, said proximal end coupled to said means for engaging a rope; wherein said distal end of said tension arm is adapted to move in a first direction; wherein said means for engaging a rope is adapted to reduce the grip on the rope when said distal end of said tension arm is moved in said first direction; a load bracket having a pivot dowel, a support dowel and a load aperture; said load bracket coupled to said base plate at said pivot dowel; a spring loaded support assembly coupled to said base plate; said spring loaded support assembly adapted to support said load bracket at said support dowel; wherein said spring loaded support assembly is adapted to react with said distal end of said tension arm; and wherein said spring loaded support assembly is adapted to move said distal end of said tension arm in said first direction thereby causing said means for engaging a rope to reduce the grip on the rope when the load supported in said load aperture exceeds a predetermined amount. 20. An apparatus as recited in claim 19, wherein said spring loaded support assembly comprises: a pivot bracket having a pivot end and a roller support platform, said pivot end coupled to said base plate; a spring support clevis having a clevis fork and a support rod, said clevis fork coupled to said base plate; wherein said spring support clevis is positioned under said roller support platform; a spring retainer having a distal end and a proximal end, said distal end having a bore adapted to fit over said support rod; said proximal end of said spring retainer having a flange adapted to fit under said roller support platform; a compression spring adapted to fit between said support clevis and said flange of said spring retainer; a slot in said roller support platform; a platen coupled to said flange of said spring retainer; wherein said platen is adapted to extend through said slot in said roller support platform; and a roller coupled to said support dowel of said load bracket; wherein said roller is adapted to be supported on said platen when the load supported in said load aperture is less than or equal to said predetermined amount; and wherein said roller is adapted to react with said roller support bracket thereby moving said distal end of said tension arm in said first direction causing said means for engaging a rope to reduce the grip on the rope when the load supported in said load aperture exceeds said predetermined amount. 21. An apparatus as recited in claim 19, wherein said roller support bracket is adjustable with respect to reaction with said distal end of said tension arm. 22. An apparatus for maneuvering on a rope while supporting a load, comprising: a base plate; a motor coupled to said base plate; a capstan drum coupled to said motor; wherein said motor is adapted to rotate said capstan drum; wherein said capstan drum is adapted to receive at least one wrap of rope; an upper rope guide coupled to said base plate and adapted to guide a rope to said capstan drum; a pinch roller coupled to said base plate; wherein said pinch roller is configured to apply a gripping force against said at least one wrap of rope on said capstan drum; and means for limiting load; said means for limiting load coupled to said base plate; wherein said means for limiting load is further adapted to couple to the load; wherein said means for limiting load is adapted to react with said pinch roller; and wherein said means for limiting load is configured to reduce the gripping force by said pinch roller on said at least one wrap of rope on said capstan drum when the load exceeds a predetermined amount. 23. An apparatus as recited in claim 22, further comprising: a tension roller bracket having distal and proximal ends and a pivot point between said distal and proximal ends; wherein said pinch roller is coupled to said proximal end of said tension roller bracket; wherein said tension roller bracket is coupled to said base plate at said pivot point; and a tension roller coupled to said distal end of said tension roller bracket; wherein when a load is supported on said means for limiting load, said tension roller is configured to contact an upper region of rope between said upper rope guide and said capstan drum, and wherein said pinch roller is configured to simultaneously apply a gripping force against said at least one wrap of rope on said capstan drum. 24. An apparatus as recited in claim 22: wherein said pinch roller has a closed position and an open position; wherein in said closed position, said pinch roller is adapted to grip said at least wrap of rope on said capstan drum; and wherein in said open position, said pinch roller does not contact said at least one wrap of rope on said capstan drum. 25. An apparatus as recited in claim 22, further comprising: a brake coupled to said base plate; a brake drum coupled between said capstan drum and said motor; wherein said brake drum has an inner and outer drum surface; wherein said brake is adapted to engage said outer drum surface; a centrifugal clutch mounted in said brake drum; wherein said centrifugal clutch is coupled to said motor; wherein said centrifugal clutch is adapted to engage said inner drum surface; and wherein said centrifugal clutch is adapted to reduce the starting torque required by said motor. 26. An apparatus as recited in claim 25, further comprising: a trigger coupled to said base plate; said trigger linked to said brake; said trigger having first and second positions; and a motor controller linked to said trigger; said motor controller adapted to energize said motor; wherein when said trigger is in said first position, said brake is engaged with said outer drum surface and said motor is not energized by said motor controller; and wherein when said trigger is in said second position, said brake is disengaged from said outer drum surface and said motor is energized by said motor controller. 27. An apparatus as recited in claim 26, further comprising: a palm interlock coupled to said base plate; said palm interlock adapted to react to palm pressure by an operator; wherein said palm interlock is adapted to lock said trigger in said first position when no palm pressure is applied by said operator; and wherein said palm interlock is adapted to allow said trigger to move to said second position when palm pressure is applied to said palm interlock by said operator. 28. An apparatus as recited in claim 27: said trigger having a third position; wherein when said trigger is in said third position, said brake is disengaged from said outer drum surface and said motor is not energized by said motor controller; a palm interlock coupled to said base plate; said palm interlock adapted to react to palm pressure by an operator; wherein said palm interlock is adapted to lock said trigger in said third position when no palm pressure is applied by said operator; and wherein said palm interlock is adapted to allow said trigger to move from said third position to said first and said second positions when palm pressure is applied to said palm interlock by said operator. 29. An apparatus as recited in claim 22, further comprising: a harmonic drive coupled between said capstan drum and said motor; wherein said harmonic drive is adapted to reduce the rotation speed of said capstan drum relative to the rotation speed of said motor; and wherein said capstan drum can back drive said harmonic drive. 30. An apparatus as recited in claim 22, further comprising: a rotating yoke coupled to said motor; a motion activated brake coupled between said rotating yoke and said capstan drum; wherein said motion activated brake has a drive state and a brake state; wherein said motion activated brake is in said drive state and turns said capstan drum when said rotating yoke is rotating; and wherein said motion activated brake is in said brake state and prevents said capstan drum from rotating when said rotating yoke is stationary. 31. An apparatus as recited in claim 30, further comprising: a trigger coupled to said base plate; said trigger having first and second positions; and a motor controller linked to said trigger; said motor controller adapted to energize said motor; wherein when said trigger is in said first position, said motor is not energized by said motor controller and said motion activated brake is in said brake state; and wherein when said trigger is in said second position, said motor is energized by said motor controller and said brake is in said drive state. 32. An apparatus as recited in claim 31, further comprising: a receiver connected to said motor controller; wherein said receiver is adapted to receive control signals; and a remote transmitter adapted to send control signals to said receiver. 33. An apparatus as recited in claim 22, further comprising: a motor enclosure coupled to said base plate adapted to enclose said motor; a battery electrically connected to said motor; and a battery enclosure coupled to said base plate adapted to enclose said battery; wherein said battery cannot be electrically disconnected from said motor when said motor is enclosed in said motor enclosure and said battery is enclosed in said battery enclosure. 34. An apparatus as recited in claim 22, wherein said means for limiting load comprises: a tension arm having distal and proximal ends; said proximal end of said tension arm coupled to said pinch roller; said distal end of said tension arm adapted to move in a first direction; wherein said pinch roller is adapted to reduce the grip on the rope when said distal end of said tension arm is moved in said first direction; a load bracket having a pivot dowel, a support dowel and a load aperture, said load bracket coupled to said base plate at said pivot dowel; and a spring loaded support assembly coupled to said base plate; said spring loaded support assembly adapted to support said load bracket at said support position; wherein said spring loaded support assembly is adapted to react with said distal end of said tension arm when a load is supported in said load aperture in said load bracket; and wherein said spring loaded support assembly is adapted to move said distal end of said tension arm in said first direction causing said pinch roller to reduce the grip on the rope when the load supported in said load aperture exceeds a predetermined amount. 35. An apparatus as recited in claim 34, said spring loaded support assembly comprises: a pivot bracket having a pivot end and a roller support platform, said pivot end coupled to said base plate; a spring support clevis having a clevis fork and a support rod, said clevis fork coupled to said base plate; wherein said spring support clevis is positioned under said roller support platform; a spring retainer having a distal end and a proximal end, said distal end having a bore adapted to fit over said support rod; said proximal end of said spring retainer having a flange adapted to fit under said roller support platform; a compression spring adapted to fit between said support clevis and said flange of said spring retainer; a slot in said roller support platform; a platen coupled to said flange of said spring retainer; wherein said platen is adapted to extend through said slot in said roller support platform; and a roller coupled to said support dowel of said load bracket; wherein said roller is adapted to be supported on said platen when the load supported in said load aperture is less than or equal to said predetermined amount; and wherein said roller is adapted to react with said roller support bracket thereby moving said distal end of said tension arm in said first direction causing said pinch roller to reduce the grip on the rope when the load supported in said load aperture exceeds said predetermined amount. 36. An apparatus as recited in claim 35, wherein said roller support bracket is adjustable with respect to reaction with said distal end of said tension arm. 37. An apparatus for ascending a rope while supporting a load, comprising: a base plate; a load bracket coupled to said base plate; said load bracket adapted to support a load; a motor coupled to said base plate; a rotating yoke coupled to said motor; wherein said motor is adapted to rotate said rotating yoke; a motion activated brake coupled to said rotating yoke; a capstan drum coupled to said motion activated brake; wherein said motion activated brake has a drive state and a brake state; wherein said motion activated brake is in said drive state and rotates said capstan drum when said rotating yoke is rotating; wherein said motion activated brake is in said brake state and prevents said capstan drum from rotating when said rotating yoke is stationary; a pinch roller coupled to said base plate; wherein said pinch roller is positioned to contact said capstan drum; and wherein said pinch roller is configured to apply a gripping force against at least one wrap of rope on said capstan drum. 38. An apparatus as recited in claim 37, further comprising: a trigger coupled to said base plate; said trigger having first and second positions; a motor controller linked to said trigger; said motor controller adapted to energize said motor; wherein when said trigger is in said first position, said motor is not energized by said motor controller and said motion activated brake is in said brake state; and wherein when said trigger is in said second position, said motor is energized by said motor controller and said brake is in said drive state. 39. An apparatus as recited in claim 38, further comprising: a receiver connected to said motor controller; wherein said receiver is adapted to receive control signals to control said motor controller; and a remote transmitter adapted to send control signals to said receiver. 40. An apparatus as recited in claim 38, wherein said load bracket is adjustable with respect to reaction with said pinch roller. 41. An apparatus as recited in claim 37, further comprising: a motor enclosure coupled to said base plate adapted to enclose said motor; a battery electrically connected to said motor; and a battery enclosure coupled to said base plate adapted to enclose said battery; wherein said battery cannot be electrically disconnected from said motor when said motor is enclosed in said motor enclosure and said battery is enclosed in said battery enclosure. 42. An apparatus as recited in claim 37: wherein said load bracket is adapted to react with said pinch roller; and wherein said load bracket is configured to reduce the gripping force against said at least one wrap of rope on said capstan drum by said pinch roller when the load supported exceeds a predetermined amount.
Nordstrom, Charles; Su, Robbie Philip; Patten, Elias Wolfgang; Atwater, Joel Fraser; Felker, Fort, Nodes for multiple aerial vehicles connected to a single ground station.
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